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WO2024223680A1 - Procédé et appareil d'introduction d'unités de matériau transporté dans un système de transporteur automatique - Google Patents

Procédé et appareil d'introduction d'unités de matériau transporté dans un système de transporteur automatique Download PDF

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Publication number
WO2024223680A1
WO2024223680A1 PCT/EP2024/061277 EP2024061277W WO2024223680A1 WO 2024223680 A1 WO2024223680 A1 WO 2024223680A1 EP 2024061277 W EP2024061277 W EP 2024061277W WO 2024223680 A1 WO2024223680 A1 WO 2024223680A1
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WO
WIPO (PCT)
Prior art keywords
conveyor
conveyed goods
transfer
conveyor section
orientation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/061277
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German (de)
English (en)
Inventor
Claudio Uriarte
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cellumation GmbH
Original Assignee
Cellumation GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102023110443.8A external-priority patent/DE102023110443A1/de
Application filed by Cellumation GmbH filed Critical Cellumation GmbH
Publication of WO2024223680A1 publication Critical patent/WO2024223680A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/08—Roller-ways of curved form; with branch-offs
    • B65G13/10—Switching arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/94—Devices for flexing or tilting travelling structures; Throw-off carriages
    • B65G47/96—Devices for tilting links or platform

Definitions

  • the invention relates to a method and a device for introducing units of conveyed goods into an automatic conveyor system, in particular in production environments and in logistics.
  • a conveyor system is generally made up of a plurality of different conveyor sections that are connected together. These conveyor sections are normally many times larger than an object to be conveyed, such as a conveyor belt with endless belts or cross-belt conveyors, or a driven roller conveyor on which a large number of objects can be placed at the same time.
  • Conveyor systems with hanging pockets are also known, which make better use of the volume of the building in which they are installed than conveyor systems for conveying objects lying down. When empty, the hanging pockets are flat and folded and take up little space. They serve not only as conveyors but also as storage for the objects (for example, returned goods).
  • the hanging pockets are usually loaded at low speeds or even when the vehicle is at a standstill.
  • the introduction of conveyed goods into main conveyor systems with dimensionally limited receptacles such as hanging pockets, sliding shoes or tilting trays requires a further In addition to the correct position, the correct speed and the right time for transfer, the requirement for the infeed is the correct alignment or orientation of the material to be conveyed.
  • JP 2017186139 A describes a conveyor system with an infeed device and a method for infeeding articles P into the cells of the main conveyor.
  • the infeed device comprises several sections, which, in addition to unidirectional belt conveyors, also include a section with a large number of conveyor rollers.
  • the conveyor rollers of the special infeed section can be rotated by 90 degrees by a motor and therefore it is also possible to carry out strong rotary movements of the articles P.
  • weak rotary movements can be generated by different speeds of the individual conveyor rollers if they are controlled as a cluster.
  • the document is completely silent on coordinating the control of the clusters. This type of change in the orientation of individual conveyor rollers is very difficult to control gradually.
  • the method and the device should preferably make it possible to produce the alignment, speed, position and distances between the conveyed goods by moving them individually, in any direction and in a flowing, i.e. non-discrete, movement. This should also be possible with several conveyed goods present on the infeed section. This should ensure that the throughput of the automatic method and the device is high with a reliable and precise infeed function.
  • the infeed method or the infeed device should be changeable in the movement options that produce the transfer position, speed and alignment of the conveyed goods, even without structural changes to the system.
  • the changes in the orientation of the conveyed goods units from the entrance to the first conveyor section to the transfer to the second conveyor section are carried out by the actuators for conveying conveyed goods units resting thereon in such a way that translational and rotational movements of the conveyed goods units are superimposed and can be carried out continuously.
  • the term "orientation" of a conveyed goods unit refers in particular to the orientation of the longitudinal axis of the conveyed goods unit in relation to the conveying direction z of the first conveyor section or in relation to the conveying direction of the second conveyor section.
  • the orientation/alignment together with the position of a conveyed goods unit can also be referred to as a pose.
  • the orientation cannot be assumed to be completely arbitrary, but is mapped onto the conveying surface, which is largely a flat surface.
  • the orientations that a conveyed goods unit can assume are limited to the orientation of the conveyed object within this conveying surface.
  • the orientation during transfer to the second conveyor section is very important, as it determines whether and how well the conveyed goods unit is received in the section of the main conveyor intended for it.
  • the invention relates to a method for introducing units of conveyed goods into an automatic conveyor system, whereby, in contrast to the previously known introduction methods, the correct alignment of the units of conveyed goods at the time of transfer is achieved by the units of conveyed goods being positioned - in particular exclusively - at their support surface on the actuators for translational and rotational movement of the conveyed goods units. No forces are therefore applied and/or transmitted to or via the side surfaces of the conveyed goods units. This results in a significantly improved effectiveness of the achieved movements of the conveyed goods. Furthermore, a method according to the present invention makes it possible to carry out a flowing movement and an individual, continuous trajectory of the conveyed goods, which brings about a significant improvement in the accuracy of the movement path, the speed and the parameters for transfer to the downstream conveyor section.
  • infeed methods provide, for example, for mounting angle brackets at the beginning of the infeed device, for pushing the conveyed goods units into the correct alignment using lateral sliding planks (“pushers”), which are attached vertically to the conveying plane and are moved if necessary, or for picking up the conveyed goods units individually with a swivel arm robot and placing them in the correct alignment on the infeed device.
  • pushhers lateral sliding planks
  • Changes in the predetermined transfer orientation and readjustment during the translatory conveying can be carried out easily and continuously with an individual trajectory using the present method. There is no need to convert mechanical components. Conveyed goods units of different nature and size can be fed in. Due to the parameters of the transfer position, the transfer speed and the transfer orientation controlled in the method according to the invention, a high level of accuracy of the feeding process is provided.
  • the invention further relates to a device for carrying out the method.
  • Fig. 1 shows a schematic plan view of an apparatus for carrying out the method according to the invention in one embodiment
  • Fig. 2 shows a schematic plan view of a device for carrying out the method according to the invention in a further embodiment
  • FIG. 3a shows a schematic perspective view of a device for carrying out the method according to the invention in a further embodiment
  • Fig. 3b shows a schematic perspective view of a device for carrying out the method according to the invention in a similar embodiment to Figure 3a
  • Fig. 3c shows a schematic perspective view of a device for carrying out the method according to the invention in a similar embodiment to Figures 3a and 3b,
  • Fig. 4a shows a schematic perspective view of a device for carrying out the method according to the invention in a further embodiment
  • Fig. 4b shows a schematic perspective view of a device for carrying out the method according to the invention in a similar embodiment to Figure 4a,
  • Fig. 4c shows a schematic perspective view of a device for carrying out the method according to the invention in a similar embodiment to Figures 4a and 4b,
  • Fig. 5a shows a schematic perspective view of a device for carrying out the method according to the invention in a further embodiment
  • Fig. 5b shows a schematic perspective view of a device for carrying out the method according to the invention in a similar embodiment of Figure 5a
  • Fig. 5c shows a schematic perspective view of a device for carrying out the method according to the invention in a similar embodiment to Figures 5a and 5b
  • Fig. 6 shows a schematic perspective view of a device for carrying out the method according to the invention in a further embodiment.
  • the invention relates to a method for introducing conveyed goods units 11 into an automatic main conveyor system 12, comprising the following steps:
  • Figure 1 shows, in a highly schematic plan view, an automatic main conveyor system 12 into which conveyed goods units 11a, 11b, 11c, 11d, 11e and 11f are fed by means of a first conveyor section 13.
  • the conveyed goods units 11 that can be conveyed in the method according to the invention are those items that can be moved by conveying them horizontally. Examples include packages, bags, boxes, containers, trays, pallets, etc. as well as workpieces or workpiece carriers.
  • conveying them horizontally refers in particular to the process of feeding them in.
  • this restriction does not apply to the main conveyor 12.
  • systems for conveying the goods horizontally systems that involve conveying them in a hanging or upright position are also possible.
  • the conveyed goods units 11 can have a base area or side lengths approximately as large as the second conveyor section 15, which in the present embodiment is designed as a conveyor carrier shell of the main conveyor 12. They are therefore provided with a predetermined angle, so that the sides or edges are parallel to the sides of the conveyor carrier 15 after transfer. A diagonal arrangement of the conveyor unit 11 would then protrude beyond the conveyor carrier 15. In other designs (e.g. cross belt, sliding shoe) it is possible for oversized conveyed goods units 11 to lie on several conveyor carriers.
  • the feeding of the conveyed goods units preferably takes place automatically like the rest of the conveying. Ideally, it already takes place singly.
  • Singulated means that the conveyed goods units are present individually and not in heaps, e.g. in a group.
  • the conveyed goods units can be fed in a group.
  • a 3D group is a disordered, densely packed accumulation of conveyed goods units, some of which may overlap or even be piled on top of one another.
  • a 2D group is a disordered, densely packed accumulation of conveyed goods units, without overlapping or piling on top of one another. According to the present method, the conveyed goods units 11 do not have a uniform orientation when fed.
  • the first conveyor section 13 has a plurality of actuators 14 arranged next to one another and one behind the other for conveying conveyed goods units 11a, 11b, 11c, 11d, 11e and 11f resting thereon.
  • the actuators 14 can be of the same or different design. However, they should form a common conveying plane.
  • the actuators 14 preferably each comprise at least one conveyor wheel, the orientation of the individual conveyor wheels being unchangeable and at least two groups of conveyor wheels are provided, wherein a first group has conveyor wheels with an orientation in the main conveying direction z and/or normal to the main conveying direction z and a second group has conveyor wheels with an orientation different from the first conveying direction.
  • the actuators are at least partially designed as multidirectional actuators and can thus generate forces for the translational movement of the conveyed goods units 11 in the conveying direction z as well as movements deviating from this in the conveying plane with a vector at an angle to the conveying direction z, in particular in a range of ⁇ 90° to the conveying direction z.
  • the actuators are at least partially designed as omnidirectional actuators, and in particular all actuators 14 of the first conveying section 13. In other words, this makes it possible to carry out a targeted rotation of the conveyed goods units 11 (also on the side).
  • the entry position, the entry speed and the entry orientation of each fed conveyed goods unit 11 on the first conveyor section 13 are determined.
  • sensors 16 can be used for this purpose, which monitor at least the entry area of the first conveyor section 13.
  • the sensors 16 can preferably be 2D or 3D or RGB cameras or IR cameras, possibly in combination with light barriers, also in multiple arrangements in a row or light barrier curtains. Only one sensor 16 can also be used for this purpose.
  • the sensors 16, and in particular cameras are calibrated to the conveyor section to be observed. This can be done once during setup or several times at predetermined time intervals.
  • the sensors or the sensor 16 transmits the recorded data to a computer.
  • the transfer position, the transfer speed and the transfer orientation of each conveyed goods unit 11a..11f are determined for the transfer from the first conveyor section 13 to a second conveyor section 15 downstream of the first conveyor section 13 in the conveying direction z.
  • This determination can already be stored as information on a computer. It can, for example, be stored in the system control of the main conveyor 12, which can be designed separately or together with the computer to determine the input situation as described above. however, other sensor data for determining the transfer situation, i.e. the transfer position, the transfer speed and the transfer orientation, can also be recorded and evaluated. This can be the data from the same sensor 16 or the same sensors 16 as used for the determination described above.
  • the determination can be made individually for a conveyed goods unit 11 and can be different for each conveyed goods unit 11, or the transfer position, the transfer speed and the transfer orientation can be the same for each conveyed goods unit 11.
  • a trajectory i.e. a movement path
  • a computer with appropriately set up software for processing the previously determined data.
  • Other parameters of the conveyor sections 13 and 15 and the actuators 14 can be taken into account here and incorporated into the determination of the trajectory. This can be the same computer as for determining the input situation, i.e. the input position, the input speed and the input orientation.
  • a trajectory in the sense of the present invention is in particular a movement pattern that is individually determined for an initially recognized conveyed item, according to which all necessary handling is carried out, i.e. position, rotation and translational movement as a superimposed and continuous movement.
  • a trajectory can be described, for example, by a mathematical function or by a series of points that, when connected, lead from the input to the transfer, and have a certain speed, location and orientation at each point.
  • the method step includes the use of computational models that depict the kinematics of the actuators.
  • the result is a trajectory that is preferably continuous, but at least continuous in sections, and has no singularities, i.e. no undeterminations or overdeterminations at the points along the trajectory from the actual to the target position.
  • the actuators can transfer forces to the conveyed objects at almost any angle, so that the forces are applied tangentially along the calculated trajectory.
  • the conveyor wheels of the actuators are not only driven at right angles or parallel to an axis, in order to be sufficient for fine control of the trajectory, which consists of straight sections and curved sections (with possibly different radii). If the conveyed object is to rotate during transport on a trajectory, handling with said right-angled drives becomes more difficult, because there are at least two superimposed movements: translation, rotation. If there is additional sideways movement to reach the target position, a lateral component is added.
  • a trajectory can also be re-determined if the described data or sensor data require it. This is also a type of readjustment.
  • the conveyed goods units 11 are conveyed for transfer to the second conveyor section 15 with a predetermined transfer position, transfer speed and transfer orientation by controlling and driving the individual actuators 14. Since in very few cases the input orientation of the conveyed goods units 11 already matches the transfer orientation, i.e. in very few cases a translational movement along the conveying direction z of the first conveyor section 13 alone is sufficient, it is necessary to carry out a movement with a component transverse to the conveying direction z in addition to conveying in the conveying direction z.
  • the drives of the actuators 14 and their conveyor wheels are controlled in such a way that they manipulate the conveyed goods units 11 in such a way that in addition to a translational movement along the conveying direction z, a rotation of the conveyed goods unit can take place at the same time, provided that the determined trajectory determines this.
  • the movement along the conveying direction z can also stop and intermittent if necessary, for example if conveyed goods units 11 are backed up, i.e. the capacity of the feeder is reached and/or no conveyed goods units 11 can be transferred to the second conveyor section 15.
  • the conveying direction z runs from an entrance to at least one exit of the first conveyor section 13.
  • the conveying direction z can also follow a curve. An exit can therefore be opposite the entrance, as well as at the sides of the inlet section (not shown here). Furthermore, one, two or more exits can be useful in a further development of the invention (not shown here).
  • What is characteristic of the method of the present invention is that the changes in the orientation of the conveyed goods units 11 from the entrance to the first conveyor section 13 to the transfer to the second conveyor section 15 are carried out by the actuators 14 for conveying conveyed goods units 11 resting thereon in such a way that translatory and rotary movements of the conveyed goods units are superimposed and can be carried out continuously.
  • the term “orientation” of a conveyed goods unit is understood to mean in particular the orientation of the longitudinal axis of the conveyed goods unit in relation to the conveying direction z of the first conveyor section or in relation to the conveying direction of the second conveyor section.
  • This can also be referred to as the position of the conveyed goods unit.
  • the orientation/alignment together with the position can also be referred to as the pose.
  • the orientation cannot be assumed to be completely arbitrary, but is mapped onto the conveying surface, which is largely a flat surface.
  • the orientations that a conveyed goods unit can assume are limited to the orientation of the conveyed object within this conveying surface.
  • the orientation during transfer to the second conveyor section is very important because it determines whether and how well the conveyed goods unit is received in the section of the main conveyor intended for it.
  • the invention relates to a method for introducing units of conveyed goods into an automatic conveyor system, whereby, in contrast to the previously known introduction methods, the correct alignment of the units of conveyed goods at the time of transfer is achieved by manipulating the units of conveyed goods - in particular exclusively - on their support surface on the actuators for the translational and rotational movement of the units of conveyed goods.
  • the conveyor wheels of the actuators act preferably without a change in their alignment, in contrast to previously known introduction devices. Therefore, in this embodiment, no motor is required to change the alignment of the conveyor wheels.
  • the transfer orientation is preferably determined such that the longitudinal axis of the conveyed goods unit is arranged parallel or transverse to the conveying direction x of the main conveyor 12.
  • infeed methods provide, for example, for mounting angle brackets at the beginning of the infeed device, for pushing the conveyed goods units into the correct alignment using lateral sliding planks (“pushers”), which are attached vertically to the conveying plane and are moved if necessary, or for picking up the conveyed goods units individually with a swivel arm robot and placing them in the correct alignment on the infeed device.
  • pushhers lateral sliding planks
  • Changes in the predetermined transfer orientation and readjustment during the translatory conveying can be carried out easily and continuously with an individual trajectory using the present method. There is no need to convert mechanical components. Conveyed goods units of different nature and size can be fed in. Due to the parameters of the transfer position, the transfer speed and the transfer orientation controlled in the method according to the invention, a high level of accuracy of the feeding process is provided.
  • a plurality of individual conveyed goods units 11a, ...., 11e are fed simultaneously and in different, random orientations. More than one of the conveyed goods units 11 can also be moved simultaneously according to their individual trajectories along the first conveyor section 13, which is another great advantage of the method according to the invention.
  • the second conveyor section 15 is part of the main conveyor system 12 and, in the embodiment sketched here in Figure 1, is a section of a tilting tray conveyor, but other suitable conveyors can be used, some of which are shown in the following figures.
  • the transfer time is also important. Downstream conveyor systems are often timed, but the transfer time is also important for non-timed systems such as endless conveyors. In the case of a continuously running endless conveyor, there is no timing, since there are no countable conveyor carriers. Nevertheless, this downstream conveyor system 12 sends a signal for a free, loadable section 15 on the endless conveyor 12 to the control of the first conveyor section 13.
  • the control of the first conveyor section 13 receives information about the release for the transfer of a conveyed goods unit 11. It is also conceivable that the control is connected to a sensor that monitors whether one or more free conveyor carriers 15 will reach the transfer position or whether a free conveyor section 15 is present on an endless conveyor 12, and draws conclusions from this as to whether the transfer can take place. To do this, the control includes this information in the calculation of the execution of the movement path (trajectory) so that the desired transfer orientation is present at the position at the time of transfer or time window.
  • the alignment of the conveyor section 13 or the conveying direction z is shown in Figure 1 at an angle of approximately 45° in relation to the conveying direction of the second conveyor section 15.
  • This is advantageous in particular so that the conveyed goods unit 11 has a speed component in the conveying direction of the second conveyor section when transferred from the conveyor section 13 to the second conveyor section 15.
  • the speed component is advantageously almost identical to the speed of the second conveyor section.
  • the alignment can also be 0° (parallel) or 90° or a value between 0° and 90° (not shown in Figure 1). It is shown how a conveyed goods unit is transferred from the conveyor section 13 to the main conveyor 12 with its own longitudinal axis aligned parallel to the conveying direction x. In the case of more rectangular conveyed goods units, the transfer is preferably carried out with the longitudinal axis aligned parallel or orthogonal to the conveying direction x. In principle, the alignment is possible at any angle.
  • Figure 2 shows a comparable arrangement of the components as Figure 1.
  • the second conveyor section 15, which is downstream of the first conveyor section is not designed as a conveyor section of the main conveyor 12.
  • the second conveyor section 15 is designed as a transition belt conveyor and is upstream of the main conveyor 12. In this way, it can carry out an additional speed adjustment to the requirements of the main conveyor 12 in the form of acceleration or deceleration.
  • the infeed arrangement comprises a feed and a first conveyor section 13.
  • the second conveyor section 15 is also part of the infeed arrangement. It is arranged in the form of a transfer belt conveyor at an angle other than 90° to the conveying direction x of the main conveyor 12. This has the advantage that during infeed, a speed component is applied to the conveyed goods unit 11 which corresponds in magnitude and direction to the main conveying direction x and the speed of the conveyor carrier of the downstream main conveyor 12. By interposing a transfer belt conveyor, this speed component can be varied again independently of the transfer speed of the first to the second conveyor section.
  • Figure 3a shows a highly schematic perspective view of a further embodiment of an application of the method according to the invention.
  • a sensor 16 is necessary for the operation of the method according to the invention, but is not shown for the sake of simplicity, as is the case in the following highly schematic figures 3b - 6.
  • the actuators 14 of the first conveyor section 13 are only shown with their property of being able to convey in multiple directions. This simplified representation of the actuators also applies to all of the following figures.
  • the alignment of the conveyor section 13 or the conveying direction z is shown in Figure 3a at an angle of approximately 90° in relation to the conveying direction x of the main conveyor 12. This is possible if the speed of the main conveyor is low (e.g. less than 1 m per second).
  • the main conveyor 12 is designed as a cross-belt conveyor with cross belts 20 and is able to move conveyed goods units transversely to the conveying direction x or even to eject them. It is shown how the transfer of a conveyed goods unit 11 from the second conveyor section 15 with an alignment of its own longitudinal axis parallel to the conveying direction x to the main conveyor 12 takes place.
  • the conveyed goods unit 11 is largely square. In the case of more rectangular conveyed goods units, it is preferable to transfer them with a parallel alignment of the longitudinal axis or an orthogonal alignment of the longitudinal axis to the conveying direction x. In principle, the alignment is possible at any angle.
  • Figure 3b is a further development of the embodiment of an application of the method according to the invention shown in Figure 3a and shows an infeed aligned at an acute angle.
  • the alignment of the conveyor section 13 or the conveying direction z is shown at an angle of approximately 45° in relation to the conveying direction x of the main conveyor 12.
  • the main conveyor 12 has higher speeds and the conveyed goods units 11 to be inducted must have a speed component in the direction x and largely at the level of the speed of the main conveyor 12 during transfer.
  • the main conveyor 12 is a cross-belt conveyor with cross belts 20.
  • Figure 3c is a further development of the embodiment of an application of the method according to the invention shown in Figure 3a and shows an infeed aligned at an angle of 0° and is particularly advantageous when the main conveyor 12 is operated at very high speeds, since the conveying directions x and z point in the same direction.
  • the main conveyor 12 is a cross-belt conveyor with cross belts 20.
  • Figure 4a is a further development of the embodiment of an application of the method according to the invention shown in Figure 3a and shows a tray conveyor 12 with trays 19 as the main conveyor.
  • Figure 4b is a further development of the embodiment of an application of the method according to the invention shown in Figure 3b and shows a tray conveyor 12 with trays 19 as the main conveyor.
  • Figure 4c is a further development of the embodiment of an application of the method according to the invention shown in Figure 3c and shows a tray conveyor 12 with trays 19 as the main conveyor.
  • Figure 5a is a further development of the embodiment of an application of the method according to the invention shown in Figure 3a and shows a hanging pocket conveyor with hanging pockets 18 as the main conveyor 12.
  • the conveyed goods units 11 can have a base area or side lengths that are almost as large as the conveyor carrier 18, which in the present embodiment is designed as a hanging pocket of the main conveyor 12. They are therefore transferred at a predetermined angle, so that the sides or edges are parallel to the sides of the conveyor carrier 18 after transfer. A diagonal arrangement of the conveyor unit 11 would then protrude beyond the conveyor carrier 18. In the present case of the hanging pocket sorter as the main conveyor 12, this is even absolutely necessary, since the hanging pockets 18 have a filling section/edge that is usually narrower than the section arranged transversely to it (rectangle arranged upright).
  • FIG. 5b is a further development of the embodiment of an application of the method according to the invention shown in Figure 3b and shows a hanging pocket conveyor with hanging pockets 18 as the main conveyor 12.
  • Figure 5c is a further development of the embodiment of an application of the method according to the invention shown in Figure 3c and shows as the main conveyor 12 a hanging pocket conveyor with hanging pockets 18, but with parallel but opposite conveying directions x and z.
  • Figure 6 is a further development of the embodiment of an application of the method according to the invention shown in Figure 3c and shows a sliding shoe conveyor with sliding shoes 17 as the main conveyor 12.
  • the actuators each comprise at least one conveyor wheel, wherein the orientation of the individual conveyor wheels is unchangeable, wherein at least two groups of conveyor wheels are provided, wherein a first group has conveyor wheels with an orientation in the main conveying direction z and/or normal to the main conveying direction z and a second group has conveyor wheels with an orientation different from the first conveying direction.
  • the control of the transfer situation can be further improved, particularly with regard to the transfer speed and the transfer position.
  • the trajectory can be optimized and improved efficiency is achieved, particularly with regard to the accuracy of the transfer and the throughput of the infeed process.
  • a plurality of individual conveyed goods units are fed simultaneously.
  • the advantages of such a feed have already been explained above.
  • the flexibility of the method and the conveyor system is increased.
  • the trajectories of successive conveyed goods units are determined in such a way that the conveyed goods units have a minimum distance from one another when being transferred to the second conveyor section, with the front edges of the conveyed goods units, the centers of the conveyed goods units or the rear edge of the preceding conveyed goods units preferably having the same distance from one another to the front edge of the following conveyed goods unit.
  • the second conveyor section is part of the main conveyor system and in particular a tilting tray conveyor, a hanging bag conveyor, a belt conveyor, a cross-belt conveyor or a shoe sorter.
  • the second conveyor section is a synchronization belt or a belt conveyor or a roller conveyor or a combination thereof, which transfers the conveyed goods units to a main conveyor.
  • the actuators of the first conveyor section are at least partially multidirectional actuators, preferably all actuators are designed as multidirectional, in particular as omnidirectional, actuators. Reference is made in particular to actuators as described in EP 2874923 A1.
  • the input position, the input speed and the input orientation of a conveyed goods unit are determined by means of one or more sensors, in particular one or more cameras. Further details on this have already been given above.
  • the sensor or sensors monitor the entire first conveyor section. This makes it possible, in particular, to make a readjustment in the event of deviations from the trajectory or to react to a fault.
  • the movement of the conveyed goods unit is readjusted based on the data on the position, speed and orientation on the first conveyor section recorded by means of the sensor or by means of several sensors when deviations from the determined trajectory are detected.
  • the invention further relates to a device for carrying out the method described above.
  • the device comprises: a first conveyor section with a main conveyor direction z, having a plurality of actuators arranged next to one another and one behind the other for conveying units of goods to be conveyed resting thereon, one or more sensors, at least one second conveyor section downstream of the first conveyor section in the conveyor direction z,
  • Means for controlling and driving the actuators are provided.
  • the actuators are at least partially (in their number) multidirectional, in particular omnidirectional.
  • the actuators preferably each comprise at least one conveyor wheel, wherein the orientation of the individual conveyor wheels is unchangeable, wherein at least two groups of conveyor wheels are provided, wherein a first group has conveyor wheels with an orientation in the main conveying direction z and/or normal to the main conveying direction z and a second group has conveyor wheels with an orientation different from the first conveying direction.
  • the senor or sensors is a camera, in particular a 2D, 3D or RGB camera or an IR camera, a light barrier or a combination thereof.
  • the means for determining the trajectory of a conveyed goods unit are in communication with control means of the second, downstream conveyor section. This achieves a very good coordination of the movement of the conveyed goods units on the first conveyor section with the requirements of the second conveyor section (in particular with the requirements of the main conveyor). The reliability of the device is thereby increased and fewer downtimes or stops of the feed-in occur.
  • the device comprises two downstream second conveyor sections.
  • These can be, for example, a belt conveyor and a main conveyor, whereby the belt conveyor can not only be used as a buffer for the main conveyor but also to achieve an improved adjustment of the transfer speed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Attitude Control For Articles On Conveyors (AREA)

Abstract

L'invention se rapporte à un procédé d'introduction d'unités de matériau transporté (11) dans un système de transport automatique (12), ledit procédé comprenant les étapes suivantes consistant : - à introduire des unités de matériau transporté (11) sur une première section de transporteur (13), la première section de transporteur (13) comportant une pluralité d'actionneurs (14), disposés côte à côte et l'un derrière l'autre, permettant de transporter des unités de matériau transporté qui reposent sur ces derniers , - à déterminer la position d'entrée, la vitesse d'entrée et l'orientation d'entrée de chaque unité de matériau transporté (11) introduite, - à déterminer la position de transfert, la vitesse de transfert et l'orientation de transfert de chaque unité de matériau transporté (11a, ..., 11f) pour le transfert depuis la première section de transporteur (13) vers au moins une seconde section de transporteur (15) située en aval de la première section de transporteur (13) dans la direction de transport (z), - à déterminer une trajectoire pour le déplacement d'une unité de matériau transporté (11) depuis l'introduction sur la première section de transport (13) jusqu'au transfert vers la seconde section de transporteur (15), et - à commander et entraîner les actionneurs individuels (14) et ainsi à transporter les unités de matériau transporté (11) jusqu'au transfert vers la seconde section de transporteur (15) aux position de transfert, vitesse de transfert et orientation de transfert prédéfinies. Selon l'invention, les changements d'orientation des unités de matériau transporté depuis l'entrée sur la première section de transporteur jusqu'au transfert vers la seconde section de transporteur sont effectués par les actionneurs permettant de transporter des unités de matériau transporté reposant sur ces derniers de telle sorte que des déplacements de translation et de rotation des unités de matériau transporté (11) sont superposés et peuvent être exécutés en continu. L'invention se rapporte également à un appareil permettant de mettre en œuvre ledit procédé.
PCT/EP2024/061277 2023-04-24 2024-04-24 Procédé et appareil d'introduction d'unités de matériau transporté dans un système de transporteur automatique Pending WO2024223680A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102023110443.8A DE102023110443A1 (de) 2023-04-24 2023-04-24 Verfahren und Vorrichtung zum Einschleusen von Förderguteinheiten in eine automatische Förderanlage
DE102023110443.8 2023-04-24
LU504940 2023-08-18
LULU504940 2023-08-18

Publications (1)

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WO2024223680A1 true WO2024223680A1 (fr) 2024-10-31

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6694220B1 (en) * 1999-06-15 2004-02-17 Siemens Aktiengesellschaft Device for handling individually packaged goods
US20040104100A1 (en) * 2002-10-29 2004-06-03 Rapistan Systems Advertising Corp. Conveyor system with distributed article manipulation
US20130220775A1 (en) * 2010-04-19 2013-08-29 Ssi Schäfer Noell Gmbh Lager-Und Systemtechnik Matrix conveyor for use as a sorting device or palletizing device
EP2874923A1 (fr) 2012-07-18 2015-05-27 BIBA Bremer Institut für Produktion und Logistik GmbH Module de système transporteur omnidirectionnel, système transporteur omnidirectionnel modulaire et système transporteur omnidirectionnel
JP2017186139A (ja) 2016-04-07 2017-10-12 株式会社東芝 物品仕分装置
DE102021107088A1 (de) * 2021-03-22 2022-09-22 cellumation GmbH Vorrichtung und Verfahren zur Sortierung von einzelnen Förderguteinheiten bei gleichzeitigem Transport der Förderguteinheiten

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6694220B1 (en) * 1999-06-15 2004-02-17 Siemens Aktiengesellschaft Device for handling individually packaged goods
US20040104100A1 (en) * 2002-10-29 2004-06-03 Rapistan Systems Advertising Corp. Conveyor system with distributed article manipulation
US20130220775A1 (en) * 2010-04-19 2013-08-29 Ssi Schäfer Noell Gmbh Lager-Und Systemtechnik Matrix conveyor for use as a sorting device or palletizing device
EP2874923A1 (fr) 2012-07-18 2015-05-27 BIBA Bremer Institut für Produktion und Logistik GmbH Module de système transporteur omnidirectionnel, système transporteur omnidirectionnel modulaire et système transporteur omnidirectionnel
JP2017186139A (ja) 2016-04-07 2017-10-12 株式会社東芝 物品仕分装置
DE102021107088A1 (de) * 2021-03-22 2022-09-22 cellumation GmbH Vorrichtung und Verfahren zur Sortierung von einzelnen Förderguteinheiten bei gleichzeitigem Transport der Förderguteinheiten

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